Feature-Based Compliance Control for Precise Peg-in-Hole Assembly
IEEE Transactions on Industrial Electronics(2022)
摘要
This article focuses on solving the problem of precise peg-in-hole assembly. The main contribution of this article is to propose a control method to improve the assembly precision. The method is capable to realize the precise insertion assembly tasks of cylindrical or prismatic objects with clearance or interference fit. In this article, a feature space and a response space are first constructed a...
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关键词
Aerospace electronics,Stress,Sensors,Robots,Task analysis,Interference,Force control
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